Abstract-In this paper, we present a task allocation model for search and rescue persons with disabilities in case of disaster. The multi agent-based simulation model is used to simulate the rescue process. Volunteers and disabled persons are modeled as agents, which each have their own attributes and behaviors. The task of volunteers is to help disabled persons in emergency situations. This task allocation problem is solved by using combinatorial auction mechanism to decide which volunteers should help which disabled persons. The disaster space, road network, and rescue process are also described in detail. The RoboCup Rescue simulation platform is used to present proposed model with different scenarios.